APPLICATION OF SLIDING MODE CONTROL TO SWARMS UNDER CONFLICT

摘要

A robustizing Sliding Mode Control (SMC) strategy is implemented on two competing multi-agent swarms, called pursuers and evaders. Newtonian dynamic models are considered, which include drag forces as well as the inter-agent attraction/repulsion forces. The proposed control achieves the stability and the capture of the evaders by the pursuers despite the uncertainties in the evader behavior.The group pursuit is conceived in two phases: the approach phase during which the two swarms act like two individuals; and the assigned pursuit phase when each pursuer is assigned to an evader. Furthermore, we take into account a turning action for the evaders, which adds to their agility. This property is considered as a part of the uncertainty in the dynamics. The control parameters are separately studied to assess their influences on the pursuit.